Teach-and-repeat path following for an autonomous underwater vehicle
This paper presents a teach-and-repeat path-following method for an autonomous underwater vehicle (AUV) navigating long distances in environments where external navigation aides are denied. This method utilizes sonar images to construct a series of reference views along a path,stored as a topologica...
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Online Access: | https://doi.org/10.1002/rob.21776 http://ecite.utas.edu.au/124319 |
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ftunivtasecite:oai:ecite.utas.edu.au:124319 2023-05-15T17:22:28+02:00 Teach-and-repeat path following for an autonomous underwater vehicle King, P Vardy, A Forrest, AL 2018 https://doi.org/10.1002/rob.21776 http://ecite.utas.edu.au/124319 en eng John Wiley & Sons, Inc. http://dx.doi.org/10.1002/rob.21776 King, P and Vardy, A and Forrest, AL, Teach-and-repeat path following for an autonomous underwater vehicle, Journal of Field Robotics, 35, (5) pp. 748-763. ISSN 1556-4959 (2018) [Refereed Article] http://ecite.utas.edu.au/124319 Engineering Maritime Engineering Special Vehicles Refereed Article PeerReviewed 2018 ftunivtasecite https://doi.org/10.1002/rob.21776 2019-12-13T22:23:01Z This paper presents a teach-and-repeat path-following method for an autonomous underwater vehicle (AUV) navigating long distances in environments where external navigation aides are denied. This method utilizes sonar images to construct a series of reference views along a path,stored as a topological map. The AUV can then renavigate along this path, either to return to the start location or to repeat the route. Utilizing unique assumptions about the sonar image-generation process, this system exhibits robust image-matching capabilities, providing observations to a discrete Bayesian filter that maintains an estimate of progress along the path. Image-matching also provides an estimate of offset from the path, allowing the AUV to correct its heading and effectively close the gap. Over a series of field trials, this system demonstrated online control of an AUV in the ocean environment of Holyrood Arm, Newfoundland and Labrador, Canada. The system was implemented on an International Submarine Engineering Ltd. Explorer AUV and per-formed multiple path completions over both a 1 and 5 km track. These trials illustrated an AUV operating in a fully autonomous mode, in which navigation was driven solely by sensor feedback and adaptive control. Path-following performance was as desired, with the AUV maintaining close offset to the path. Article in Journal/Newspaper Newfoundland eCite UTAS (University of Tasmania) Newfoundland Canada Journal of Field Robotics 35 5 748 763 |
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eCite UTAS (University of Tasmania) |
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ftunivtasecite |
language |
English |
topic |
Engineering Maritime Engineering Special Vehicles |
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Engineering Maritime Engineering Special Vehicles King, P Vardy, A Forrest, AL Teach-and-repeat path following for an autonomous underwater vehicle |
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Engineering Maritime Engineering Special Vehicles |
description |
This paper presents a teach-and-repeat path-following method for an autonomous underwater vehicle (AUV) navigating long distances in environments where external navigation aides are denied. This method utilizes sonar images to construct a series of reference views along a path,stored as a topological map. The AUV can then renavigate along this path, either to return to the start location or to repeat the route. Utilizing unique assumptions about the sonar image-generation process, this system exhibits robust image-matching capabilities, providing observations to a discrete Bayesian filter that maintains an estimate of progress along the path. Image-matching also provides an estimate of offset from the path, allowing the AUV to correct its heading and effectively close the gap. Over a series of field trials, this system demonstrated online control of an AUV in the ocean environment of Holyrood Arm, Newfoundland and Labrador, Canada. The system was implemented on an International Submarine Engineering Ltd. Explorer AUV and per-formed multiple path completions over both a 1 and 5 km track. These trials illustrated an AUV operating in a fully autonomous mode, in which navigation was driven solely by sensor feedback and adaptive control. Path-following performance was as desired, with the AUV maintaining close offset to the path. |
format |
Article in Journal/Newspaper |
author |
King, P Vardy, A Forrest, AL |
author_facet |
King, P Vardy, A Forrest, AL |
author_sort |
King, P |
title |
Teach-and-repeat path following for an autonomous underwater vehicle |
title_short |
Teach-and-repeat path following for an autonomous underwater vehicle |
title_full |
Teach-and-repeat path following for an autonomous underwater vehicle |
title_fullStr |
Teach-and-repeat path following for an autonomous underwater vehicle |
title_full_unstemmed |
Teach-and-repeat path following for an autonomous underwater vehicle |
title_sort |
teach-and-repeat path following for an autonomous underwater vehicle |
publisher |
John Wiley & Sons, Inc. |
publishDate |
2018 |
url |
https://doi.org/10.1002/rob.21776 http://ecite.utas.edu.au/124319 |
geographic |
Newfoundland Canada |
geographic_facet |
Newfoundland Canada |
genre |
Newfoundland |
genre_facet |
Newfoundland |
op_relation |
http://dx.doi.org/10.1002/rob.21776 King, P and Vardy, A and Forrest, AL, Teach-and-repeat path following for an autonomous underwater vehicle, Journal of Field Robotics, 35, (5) pp. 748-763. ISSN 1556-4959 (2018) [Refereed Article] http://ecite.utas.edu.au/124319 |
op_doi |
https://doi.org/10.1002/rob.21776 |
container_title |
Journal of Field Robotics |
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35 |
container_issue |
5 |
container_start_page |
748 |
op_container_end_page |
763 |
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1766109144387944448 |